placo 0.9.4__0-cp313-cp313-manylinux_2_28_x86_64.whl → 0.9.5__0-cp313-cp313-manylinux_2_28_x86_64.whl

cmeel.prefix/lib/python3.13/site-packages/placo.pyi

@@ -17,6 +17,7 @@ CubicSpline3D = typing.NewType("CubicSpline3D", None)
 Distance = typing.NewType("Distance", None)
 DistanceConstraint = typing.NewType("DistanceConstraint", None)
 DistanceTask = typing.NewType("DistanceTask", None)
+DummyWalk = typing.NewType("DummyWalk", None)
 DynamicsCoMTask = typing.NewType("DynamicsCoMTask", None)
 DynamicsConstraint = typing.NewType("DynamicsConstraint", None)
 DynamicsFrameTask = typing.NewType("DynamicsFrameTask", None)
@@ -1322,6 +1323,150 @@ None( (placo.Prioritized)arg1) -> str :
     ...
 
 
+class DummyWalk:
+  T_world_left: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> object :
+
+    C++ signature :
+        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  T_world_next: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> object :
+
+    C++ signature :
+        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  T_world_right: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> object :
+
+    C++ signature :
+        Eigen::Transform<double, 3, 2, 0> {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  def __init__(
+    self,
+    robot: RobotWrapper, # placo::model::RobotWrapper
+  ) -> any:
+    ...
+
+  feet_spacing: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  lift_height: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  def next_step(
+    self,
+    dx: float, # double
+    dy: float, # double
+    dtheta: float, # double
+  ) -> None:
+    """
+    Produce the next step, change support foot.
+    
+    :param float dx: dx 
+    :param float dy: dy 
+    :param float dtheta: dtheta
+    """
+    ...
+
+  def reset(
+    self,
+    support_left: bool = False, # bool
+  ) -> None:
+    """
+    Reset the robot with a given support.
+    
+    :param bool support_left: whether the first support is left
+    """
+    ...
+
+  robot: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> placo.RobotWrapper :
+
+    C++ signature :
+        placo::model::RobotWrapper {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  solver: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> placo.KinematicsSolver :
+
+    C++ signature :
+        placo::kinematics::KinematicsSolver {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  support_left: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> bool :
+
+    C++ signature :
+        bool {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  trunk_height: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  trunk_pitch: any
+  """
+  
+None( (placo.DummyWalk)arg1) -> float :
+
+    C++ signature :
+        double {lvalue} None(placo::humanoid::DummyWalk {lvalue})
+  """
+
+  def update(
+    self,
+    t: float, # double
+  ) -> None:
+    """
+    Updates the internal IK.
+    
+    :param float t: phase in step from 0 to 1
+    """
+    ...
+
+  def update_T_world_support(
+    self,
+    T_world_support: numpy.ndarray, # Eigen::Affine3d
+  ) -> None:
+    """
+    Update the support to a given world pose.
+    """
+    ...
+
+
 class DynamicsCoMTask:
   A: any
   """
@@ -4164,7 +4309,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7fedb02f5a80>
+    :return: <Element 'para' at 0x7f00be2d22f0>
     """
     ...
 
@@ -4196,7 +4341,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0x7fedb0223740>
+    :return: <Element 'para' at 0x7f00be2d2ed0>
     """
     ...
 
@@ -4209,7 +4354,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryM
     Jacobian time variation $\dot J$, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian time variation 
-    :return: <Element 'para' at 0x7fedb02202c0>
+    :return: <Element 'para' at 0x7f00be2f04a0>
     """
     ...
 
@@ -4515,7 +4660,7 @@ None( (placo.HumanoidRobot)arg1) -> pinocchio.pinocchio_pywrap_default.Model :
     Finds the self collision in current state, if stop_at_first is true, it will stop at the first collision found.
     
     :param bool stop_at_first: whether to stop at the first collision found 
-    :return: <Element 'para' at 0x7fedb02f64d0>
+    :return: <Element 'para' at 0x7f00be2d1a80>
     """
     ...
 
@@ -5633,7 +5778,7 @@ None( (placo.KinematicsSolver)arg1) -> placo.Problem :
 None( (placo.KinematicsSolver)arg1) -> placo.RobotWrapper :
 
     C++ signature :
-        placo::model::RobotWrapper None(placo::kinematics::KinematicsSolver)
+        placo::model::RobotWrapper {lvalue} None(placo::kinematics::KinematicsSolver)
   """
 
   scale: any
@@ -7377,7 +7522,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     """
     Computes all minimum distances between current collision pairs.
     
-    :return: <Element 'para' at 0x7fedb0222d40>
+    :return: <Element 'para' at 0x7f00be2c77e0>
     """
     ...
 
@@ -7390,7 +7535,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     Frame jacobian, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian 
-    :return: <Element 'para' at 0x7fedb0221350>
+    :return: <Element 'para' at 0x7f00be2c6b60>
     """
     ...
 
@@ -7403,7 +7548,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.GeometryMo
     Jacobian time variation $\dot J$, default reference is LOCAL_WORLD_ALIGNED.
     
     :param any frame: the frame for which we want the jacobian time variation 
-    :return: <Element 'para' at 0x7fedb01d25c0>
+    :return: <Element 'para' at 0x7f00be27d3f0>
     """
     ...
 
@@ -7641,7 +7786,7 @@ None( (placo.RobotWrapper)arg1) -> pinocchio.pinocchio_pywrap_default.Model :
     Finds the self collision in current state, if stop_at_first is true, it will stop at the first collision found.
     
     :param bool stop_at_first: whether to stop at the first collision found 
-    :return: <Element 'para' at 0x7fedb0223290>
+    :return: <Element 'para' at 0x7f00be2c4310>
     """
     ...
 
@@ -9512,4 +9657,4 @@ def wrap_angle(
   ...
 
 
-__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'DynamicsTorqueTask', 'ExternalWrenchContact', 'LineContact', 'PointContact', 'PuppetContact', 'TaskContact'], 'placo::kinematics': ['AvoidSelfCollisionsKinematicsConstraint', 'AxisAlignTask', 'CentroidalMomentumTask', 'CoMPolygonConstraint', 'CoMTask', 'ConeConstraint', 'DistanceConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointSpaceHalfSpacesConstraint', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'ManipulabilityTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask', 'YawConstraint'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Polynom', 'Prioritized', 'Segment'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'ProblemPolynom', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable'], 'placo::humanoid': ['Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WPGTrajectory', 'WPGTrajectoryPart', 'WalkPatternGenerator', 'WalkTasks']}
+__groups__ = {'placo::dynamics': ['AvoidSelfCollisionsDynamicsConstraint', 'Contact', 'Contact6D', 'DynamicsCoMTask', 'DynamicsConstraint', 'DynamicsFrameTask', 'DynamicsGearTask', 'DynamicsJointsTask', 'DynamicsOrientationTask', 'DynamicsPositionTask', 'DynamicsRelativeFrameTask', 'DynamicsRelativeOrientationTask', 'DynamicsRelativePositionTask', 'DynamicsSolver', 'DynamicsSolverResult', 'DynamicsTask', 'DynamicsTorqueTask', 'ExternalWrenchContact', 'LineContact', 'PointContact', 'PuppetContact', 'TaskContact'], 'placo::kinematics': ['AvoidSelfCollisionsKinematicsConstraint', 'AxisAlignTask', 'CentroidalMomentumTask', 'CoMPolygonConstraint', 'CoMTask', 'ConeConstraint', 'DistanceConstraint', 'DistanceTask', 'FrameTask', 'GearTask', 'JointSpaceHalfSpacesConstraint', 'JointsTask', 'KinematicsConstraint', 'KinematicsSolver', 'KineticEnergyRegularizationTask', 'ManipulabilityTask', 'OrientationTask', 'PositionTask', 'RegularizationTask', 'RelativeFrameTask', 'RelativeOrientationTask', 'RelativePositionTask', 'Task', 'WheelTask', 'YawConstraint'], 'placo::tools': ['AxisesMask', 'CubicSpline', 'CubicSpline3D', 'Polynom', 'Prioritized', 'Segment'], 'placo::model': ['Collision', 'Distance', 'RobotWrapper', 'RobotWrapper_State'], 'placo::humanoid': ['DummyWalk', 'Footstep', 'FootstepsPlanner', 'FootstepsPlannerNaive', 'FootstepsPlannerRepetitive', 'HumanoidParameters', 'HumanoidRobot', 'LIPM', 'LIPMTrajectory', 'Support', 'SwingFoot', 'SwingFootCubic', 'SwingFootCubicTrajectory', 'SwingFootQuintic', 'SwingFootQuinticTrajectory', 'SwingFootTrajectory', 'WPGTrajectory', 'WPGTrajectoryPart', 'WalkPatternGenerator', 'WalkTasks'], 'placo::problem': ['Expression', 'Integrator', 'IntegratorTrajectory', 'PolygonConstraint', 'Problem', 'ProblemConstraint', 'ProblemPolynom', 'QPError', 'Sparsity', 'SparsityInterval', 'Variable']}

{placo-0.9.4.dist-info → placo-0.9.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: placo
-Version: 0.9.4
+Version: 0.9.5
 Summary: PlaCo: Rhoban Planning and Control
 Requires-Python: >= 3.9
 License-Expression: MIT

placo-0.9.5.dist-info/RECORD

@@ -0,0 +1,12 @@
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+cmeel.prefix/lib/python3.13/site-packages/placo.pyi,sha256=fIi1vICEbkTlo01IylJTSoGDcv4z27OWCsI4lAYzfAw,199547
+cmeel.prefix/lib/python3.13/site-packages/placo.so,sha256=PFYwIqFVUC2gASHkclWLjYNsZg73iE7JnkzbOYnBPAw,8550328
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
+cmeel.prefix/lib/python3.13/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
+placo-0.9.5.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
+placo-0.9.5.dist-info/METADATA,sha256=pNcn38rwrk9kss2D1sHX4snCWclHrA3yhUB-XOCX3R4,2628
+placo-0.9.5.dist-info/WHEEL,sha256=0HdmGrCnJOL3jd3aEKVYybYMjjAJ-FS-_IUmzdFUhHE,115
+placo-0.9.5.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+placo-0.9.5.dist-info/RECORD,,

placo-0.9.4.dist-info/RECORD

@@ -1,12 +0,0 @@
-cmeel.prefix/lib/liblibplaco.so,sha256=Rc0YqWeYnggwqzgGX-5873PN9W7BMQ8eZ6eaYrZVr_s,2106144
-cmeel.prefix/lib/python3.13/site-packages/placo.pyi,sha256=P0YA3e8nMF99AqtUGNb0QYLlouvqKFWL4Yz034W2aXA,196754
-cmeel.prefix/lib/python3.13/site-packages/placo.so,sha256=eWvDz8e7JraIEeJMD9XLSjoUJtMElWTGmyWzenmKyR0,8432080
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/__init__.py,sha256=UN-fc5KfBWQ-_qkm0Ajouh-T9tBGm5aUtuzBiH1tRtk,80
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/tf.py,sha256=fFRXNbeLlXzn5VOqYl7hcSuvOOtTDTiLi_Lpd9_l6wA,36
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/view.py,sha256=7KiLYGpTKaPJtFHZ6kjERdOzJiPSDUtkIKHbziHpkYk,928
-cmeel.prefix/lib/python3.13/site-packages/placo_utils/visualization.py,sha256=MiUn91MtezIpaP-bBj5g5PqVQNbDWdKkZxbvS_nu93I,8330
-placo-0.9.4.dist-info/licenses/LICENSE,sha256=q2bBXvk4Eh7TmP11LoIOIGSUuJbR30JBI6ZZ37g52T4,1061
-placo-0.9.4.dist-info/METADATA,sha256=vb4ibUMVg2bNQzde1RsUzBy7pgahnehX8BQZc_o_6bo,2628
-placo-0.9.4.dist-info/WHEEL,sha256=0HdmGrCnJOL3jd3aEKVYybYMjjAJ-FS-_IUmzdFUhHE,115
-placo-0.9.4.dist-info/top_level.txt,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-placo-0.9.4.dist-info/RECORD,,